WO2022007717A1 - 驱动模组及自动导引运输车 - Google Patents

驱动模组及自动导引运输车 Download PDF

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Publication number
WO2022007717A1
WO2022007717A1 PCT/CN2021/104262 CN2021104262W WO2022007717A1 WO 2022007717 A1 WO2022007717 A1 WO 2022007717A1 CN 2021104262 W CN2021104262 W CN 2021104262W WO 2022007717 A1 WO2022007717 A1 WO 2022007717A1
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WO
WIPO (PCT)
Prior art keywords
drive
driving
gear
wheel
disk
Prior art date
Application number
PCT/CN2021/104262
Other languages
English (en)
French (fr)
Inventor
吴超
Original Assignee
杭州海康机器人技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202021306220.4U external-priority patent/CN212765687U/zh
Priority claimed from CN202010643672.XA external-priority patent/CN111874088A/zh
Application filed by 杭州海康机器人技术有限公司 filed Critical 杭州海康机器人技术有限公司
Publication of WO2022007717A1 publication Critical patent/WO2022007717A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/30—Arrangement or mounting of transmissions in vehicles the ultimate propulsive elements, e.g. ground wheels, being steerable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
    • B60L15/38—Control or regulation of multiple-unit electrically-propelled vehicles with automatic control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B62D63/04—Component parts or accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor

Definitions

  • the present application relates to the technical field of wheel drive, and in particular, to a drive module and an automatic guided transport vehicle.
  • Automated Guided Vehicle also known as unmanned truck
  • AGV Automated Guided Vehicle
  • unmanned truck refers to an automatic guided vehicle equipped with electromagnetic or optical devices, capable of traveling along a prescribed guide path, with safety protection and various Transporter with transfer function.
  • AGVs In industrial applications, AGVs generally use rechargeable batteries as their power source, and the travel route and behavior of AGVs can be controlled by computers or by using electromagnetic tracks.
  • the embodiments of the present application provide a drive module and an automatic guided transport vehicle, which facilitates the realization of the steering of a single roller itself on the basis of facilitating the realization of the walking drive of the rollers.
  • an embodiment of the present application provides a drive module, a wheel frame, a roller, a first drive disk and a second drive disk; wherein the roller is rotatably arranged in the wheel frame; the first The drive disc and the second drive disc are arranged on the wheel frame and can rotate relative to the wheel frame respectively; the first drive disc and the second drive disc are coaxially arranged; the first drive disc On the outside of the wheel frame, between the first end surface of the first drive plate and the first end surface of the second drive plate A first wheel body is provided, and the first wheel body is respectively connected with the first driving disk and the second driving disk; the first wheel body and the roller pass through the side of the wheel frame.
  • the transmission mechanism of the part is connected.
  • a side portion of the wheel carrier has a through hole or a notch, and the transmission mechanism passes through the through hole or the notch.
  • a second wheel body is provided between the first driving disk and the second driving disk, and the second wheel body is respectively connected to the The first driving disc and the second driving disc are in driving connection; the side part of the wheel frame is provided with a steering shaft, and the second wheel body is rotatably mounted on the steering shaft.
  • the first wheel body is a bevel gear
  • bevel teeth are respectively provided on the first end surface of the first driving disk and the first end surface of the second driving disk;
  • the bevel teeth of the first wheel body are respectively meshed with the bevel teeth on the first end surface of the first drive disc and the bevel teeth on the first end surface of the second drive disc; or,
  • the first wheel body is a cone, the first end face of the first drive disc and the first end face of the second drive disc are respectively provided with conical surfaces; the conical surfaces of the first wheel body are respectively It is frictionally connected with the conical surface on the first end surface of the first drive disk and the conical surface on the first end surface of the second drive disk; or,
  • the first wheel body is a cylindrical gear
  • the first driving disc is a first end gear
  • the second driving disc is a second end gear
  • the teeth of the face gear mesh with the teeth of the second face gear.
  • the central axis of the first wheel body perpendicularly intersects the central axis of the first driving disc and the central axis of the second driving disc.
  • the first driving disk and the second driving disk rotate in opposite directions at the same speed, driving the first wheel body to rotate around its own central axis, and the first wheel body
  • the rotation of the roller drives the roller to rotate through the transmission mechanism
  • the first drive disk and the second drive disk rotate in the same direction and speed, driving the first wheel body to revolve around the center axis of the first drive disk and the center axis of the second drive disk. While the first wheel body is rotating, the wheel frame is pushed to turn by the transmission mechanism, and the turning of the wheel frame drives the wheel to turn; or,
  • the first wheel body rotates while rotating.
  • the central axis of the second wheel body perpendicularly intersects the central axis of the first driving disc and the central axis of the second driving disc.
  • the first driving disk and the second driving disk rotate in the same direction and speed
  • the second wheel body is about the central axis of the first driving disk and the second driving disk.
  • the center axis of the driving disc is rotated, and the second wheel body is rotated at the same time, the steering shaft pushes the wheel frame to turn, and the steering of the wheel frame drives the roller to turn.
  • the first driving disk and the second driving disk are connected with a power driving mechanism; the outer peripheries of the first driving disk and the two driving disks respectively have gear teeth;
  • the power drive mechanism includes a first motor, a first gear transmission mechanism, a second motor and a second gear transmission mechanism; wherein, the first motor is arranged outside the first drive plate, and the first gear transmission mechanism is arranged Between the first motor and the first drive plate, the first motor drives the first drive plate to rotate through the first gear transmission mechanism; the second motor is provided at the second drive plate Outside the disk, the second gear transmission mechanism is provided between the second motor and the second drive disk, and the second motor drives the second drive disk to rotate through the second gear transmission mechanism.
  • a first annular groove is opened at the edge of the first drive disk, a first outer gear ring is sleeved in the first annular groove, and the first outer tooth
  • the teeth of the ring form the gear teeth of the outer periphery of the first drive disk; and/or, a second annular groove is opened at the outer periphery of the second drive disk, and a second annular groove is sleeved in the second annular groove
  • the first motor is laterally disposed outside the first drive disk, and is located at a maximum limit defined by the wheel carrier, the first drive disk, and the second drive disk and/or, the second motor is laterally arranged outside the second drive plate and is located at the maximum height defined by the wheel carrier, the first drive plate and the second drive plate within the range.
  • the first gear transmission mechanism includes: a first driving bevel gear, a first driven bevel gear and a first intermediate gear; wherein the first driving bevel gear is fixed on the On the output shaft of the first motor, the first driven bevel gear and the first intermediate gear are fixed on the first rotating shaft, and the first driven bevel gear is meshed with the first driving bevel gear, so the first intermediate gear meshes with the gear teeth on the outer periphery of the first drive plate; and/or the second gear transmission mechanism includes: a second driving bevel gear, a second driven bevel gear and a second bevel gear Intermediate gear; wherein, the second driving bevel gear is fixed on the output shaft of the second motor, the second driven bevel gear and the second intermediate gear are fixed on the second rotating shaft, the second The driven bevel gear meshes with the second driving bevel gear, and the second intermediate gear meshes with the gear teeth on the outer periphery of the second drive plate.
  • a speed reducer is installed between the drive shaft and the roller.
  • the drive module further includes a housing, the wheel frame, the first drive disc and the second drive disc are located in the housing, wherein the wheel The frame can rotate relative to the casing; the first end face of the casing has a first opening, and the rim of the roller protrudes out of the first opening; the side surface of the casing has a first driving The disk and the second opening of the power drive mechanism of the second drive disk.
  • a middle part of the wheel frame has an accommodating space for accommodating the roller, at least one end of the wheel frame has an opening for extending the edge of the roller, and the roller is arranged in the accommodating space , and the wheel rim protrudes from the opening; the first driving disk and the second driving disk are sleeved on the wheel frame.
  • the transmission mechanism includes a drive shaft, the drive shaft penetrates through the side portion of the wheel frame, a first end of the drive shaft is connected with the first wheel body, and a second The end is connected with the roller; or, the transmission mechanism includes a drive shaft, the drive shaft penetrates through the side of the wheel frame, the first end of the drive shaft is connected with the first wheel body, and the second The end passes through the axis of the roller and is supported on the side of the wheel frame; or, the transmission mechanism includes a first drive shaft, a second drive shaft and a reducer, and the first end of the first drive shaft is connected with the first wheel body, the second end penetrates the side of the wheel frame and is connected with the input end of the reducer, and the first end of the second drive shaft is connected with the output end of the reducer connected, and the second end is connected with the roller.
  • an embodiment of the present application provides an automatic guided transport vehicle, which includes a vehicle body, and the drive module described in any of the foregoing embodiments is mounted on the bottom of the vehicle body.
  • the rollers are rotatably arranged in the wheel frame, the first driving disc and the second driving disc are arranged on the wheel frame and can rotate relative to the wheel frame respectively.
  • a first wheel body is arranged between the first end face of the first drive disc and the first end face of the second drive disc, and the first wheel body is respectively connected with the first drive disc and the second drive disc in a driving manner;
  • the wheel body and the roller are connected in a driving manner through a transmission mechanism penetrating the side of the wheel frame.
  • the first wheel body Due to the transmission connection between the first wheel body and the first driving disc and the second driving disc, the first wheel body can be driven to rotate by the first driving disc and the second driving disc, and because of the passage between the first wheel body and the roller through the
  • the transmission mechanism on the side of the wheel frame is connected by transmission, so that it is convenient to realize the walking driving of the roller through the driving disk group of the first driving disk and the second driving disk, and on this basis, it is also convenient to realize the steering of the single roller itself.
  • FIG. 1 is a schematic three-dimensional structure diagram of a driving module according to an embodiment of the present application
  • FIG. 2 is a cross-sectional view of a driving module according to another embodiment of the present application.
  • FIG. 3 is a schematic three-dimensional structural diagram of a driving module according to another embodiment of the present application.
  • FIG. 4 is a schematic three-dimensional structural diagram of a driving module according to another embodiment of the present application.
  • the AGV traveling mechanism usually includes a two-wheel differential traveling mechanism.
  • two rollers drive wheels
  • each roller is provided with a drive motor.
  • the corresponding rollers are driven by each driving motor to rotate at the same speed to realize walking; when turning, the corresponding rollers are driven by each driving motor to rotate at different speeds to realize steering.
  • the running mechanism of this AGV relies on the mutual cooperation of two rollers arranged in parallel to realize the steering of the vehicle body, that is, the steering of the vehicle body is realized by the differential rotation of the two rollers, and the steering of a single roller itself cannot be realized.
  • the embodiment of the present application provides a driving module, which can be applied to an automatic guided transport vehicle.
  • the driving module can include a wheel frame, a roller, a first driving disc and a second driving disc, the roller is rotatably arranged in the wheel frame, and the first driving disc and the second driving disc are arranged on the wheel frame and can be opposite to the wheel respectively.
  • the frame rotates; the first drive plate and the second drive plate are coaxially arranged; the first end face of the first drive plate corresponds to the first end face of the second drive plate; A first wheel body is arranged between the end face and the first end face of the second drive disc, and the first wheel body is respectively connected with the first drive disc and the second drive disc in a driving manner; the first wheel body and the roller pass through The transmission mechanism running through the side part of the wheel frame is drivingly connected. In this way, it is convenient to realize the walking driving of the rollers through the driving disk group of the first driving disk and the second driving disk, and it is also convenient to realize the steering of a single roller itself.
  • FIG. 1 is a schematic three-dimensional structural diagram of a driving module according to an embodiment of the present application.
  • the driving module according to the embodiment of the present application includes: a wheel frame 10 , a roller 12 , a first driving disk 14 and a second driving disk 16 .
  • the roller 12 is rotatably arranged in the wheel frame 10; the first driving disc 14 and the second driving disc 16 are arranged on the wheel frame 10 and can rotate relative to the wheel frame 10 respectively; the first driving disc 14 and the second driving disc 16
  • the disks 16 are arranged coaxially.
  • the first end surface of the first drive plate 14 corresponds to the first end surface of the second drive plate 16 , and bevel teeth are respectively provided on the first end surface of the first drive plate 14 and the first end surface of the second drive plate 16 .
  • a first wheel body is provided between the first end face of the first drive disc 14 and the first end face of the second drive disc 16, the first wheel body is a bevel gear, and the bevel teeth of the first wheel body are , respectively mesh with the bevel teeth on the first end surface of the first drive disk 14 and the bevel teeth on the first end surface of the second drive disk 16 .
  • the central axis of the first wheel body may be perpendicular to the central axis of the first driving disc 14 and the central axis of the second driving disc 16 .
  • the central axis of the first wheel body is parallel to the rotation axis of the first wheel body or is the rotation axis of the first wheel body, and the central axis of the first drive disc/second drive disc refers to passing through the first drive disc/second drive disc , and the axis parallel to the axis of rotation of the first drive disk/second drive disk.
  • the first wheel body and the roller 12 are connected through a transmission mechanism running through the side of the wheel frame; the first drive disc 14 and the second drive disc 16 can rotate in opposite directions at the same speed, driving the first wheel body to revolve around its center The axis rotates, and the rotation of the first wheel body drives the roller 12 to rotate through the transmission mechanism.
  • the wheel frame 10 which can also be called a roller frame, is a frame structure, which can be used as a support frame for the rollers to travel, and also as a steering support for pushing the rollers to turn.
  • the wheel carrier 10 is cylindrical or barrel-shaped with two ends passing through, and the cross-section is circular.
  • the wheel frame 10 may be a square or cuboid structure with two ends passing through.
  • the wheel frame 10 can be formed by injection molding of engineering plastics, or by stamping or welding of metal parts.
  • the central axis of the wheel carrier 10 is an axis longitudinally passing through the center of the wheel carrier.
  • Rollers 12 which may also be referred to as rollers or drive wheels, are rotatably disposed within wheel carrier 10 .
  • the central axis of the roller 12 may be perpendicular to the central axis of the wheel carrier 10 .
  • the central axis of the roller 12 is the rotation axis of the roller.
  • the first drive disk 14 may also be referred to as a first bevel ring
  • the second drive disk 16 may also be referred to as a second bevel ring.
  • the first bevel gear 14 and the second bevel gear 16 can be straight bevel gears or helical bevel gears.
  • the first wheel body can be a straight bevel gear or a helical bevel gear. gear.
  • the first driving disk 14 and the second driving disk 16 can be respectively in the shape of an annular ring, are sleeved on the outer circumference of the wheel frame 10 and can rotate relative to the wheel frame 10 respectively.
  • This embodiment is not limited to this.
  • the first driving disc 14 may be a disc-shaped structure, and the cover is arranged at the top of the wheel frame 10 , so that the roller 12 can be covered on the wheel through the first driving disc 14 . In the frame, the top of the roller 12 does not expose the top of the wheel frame 10 .
  • the second driving disc 16 is in the shape of a circular ring and is sleeved on the outer circumference of the wheel frame 10 , and the bottom of the roller 12 is exposed from the bottom of the wheel frame 10 . , to make contact with the ground.
  • a bearing may be installed between the first driving disc 14 and the wheel frame 10 to improve the flexibility of rotation between the first driving disc 14 and the wheel frame 10 .
  • a bearing may also be installed between the second driving disk 16 and the wheel frame 10 to improve the flexibility of rotation between the second driving disk 16 and the wheel frame 10 .
  • the first end surface of the first drive plate 14 is one of the two end surfaces perpendicular to the central axis of the first drive plate 14; correspondingly, the first end surface of the second drive plate 16 is the same as the second drive plate One of the two end faces whose central axes of the disc 16 are perpendicular to each other.
  • the first wheel body 18, which is used to drive the rolling running of the roller 12, may also be called a driving bevel gear.
  • the ground clearance of the first wheel body 18 may not be less than 15mm.
  • the ground clearance of the axis of the first wheel body 18 refers to the height of the axis of the first wheel body 18 from the ground when the rollers are walking on the ground.
  • the axial ground clearance of the first wheel body 18 is 15 mm; in another example, the axial ground clearance of the first wheel body 18 is 20 mm, and in another example, the first wheel body 18
  • the axle center ground clearance is 30mm, and so on.
  • the side part of the wheel frame 10 may have through holes or notches, and the transmission mechanism may pass through the through holes or notches on the side parts of the wheel frame 10 .
  • the transmission mechanism includes a drive shaft 20 , the drive shaft 20 penetrates through the side portion of the wheel frame, and a first end of the drive shaft 20 is in phase with the first wheel body 18 connected, the second end is connected with the roller 12 .
  • the transmission mechanism includes a drive shaft, the drive shaft penetrates through the side of the wheel frame, a first end of the drive shaft is connected with the first wheel body, and a second end passes through The axis of the roller is supported on the side of the wheel frame to make the roller run more smoothly.
  • the transmission mechanism includes a first drive shaft, a second drive shaft and a reducer, a first end of the first drive shaft is connected with the first wheel body, and a second end penetrates through the The side part of the wheel frame is connected with the input end of the reducer, the first end of the second drive shaft is connected with the output end of the reducer, and the second end is connected with the roller.
  • a bearing may be installed between the drive shaft 20 and the through hole or notch on the side of the wheel frame 10 .
  • the drive shaft 20 and the roller 12 can be directly and fixedly connected, so that the roller 12 can be driven to rotate by the rotation of the first wheel body 18 .
  • a reducer 28 may be mounted between the drive shaft 20 and the roller 12 .
  • One end of the drive shaft 20 is fixedly connected to the first wheel body 18
  • the other end is fixedly connected to the input end of the reducer 28
  • the output end of the reducer 28 is fixedly connected to the roller 12 .
  • the roller 12 is rotatably arranged in the wheel frame 10 , and the first driving disc 14 and the second driving disc 16 are arranged on the wheel frame 10 and can rotate relative to the wheel frame 10 respectively, and are located outside the wheel frame 10 .
  • a first wheel body 18 is provided between the first end face of the first drive plate 14 and the first end face of the second drive plate 16 , and the first wheel body 18 drives the first drive plate 14 and the second drive plate 16 respectively.
  • Connection; a drive shaft 20 is provided between the first wheel body 18 and the roller 12, the drive shaft 20 passes through the side of the wheel frame 10, the first end of the drive shaft 20 is fixed with the first wheel body 18, and the second end is The rollers 12 are fixed.
  • the first drive disc 14 and the second drive disc 16 can drive the first wheel body 18 to rotate, and because the drive shaft 20 passes through On the side of the wheel frame 10 , the first end of the drive shaft 20 is fixed with the first wheel body 18 , so that through the drive disc group of the first drive disc 14 and the second drive disc 16 , it is convenient to realize the walking and driving of the roller 12 . On the basis, it is also convenient to realize the steering of the roller 12 itself, that is, it also provides a hardware basis for realizing the steering of the roller 12 itself.
  • the first driving disc 14 and the second driving disc 16 rotate in opposite directions at the same speed, which can drive the first wheel body 18 to rotate around its central axis.
  • one way to realize the self-steering of the roller 12 is to drive the first wheel body 18 around the center of the first drive plate 14 by rotating the first drive plate 14 and the second drive plate 16 in the same direction and at the same speed.
  • the axis and the central axis of the second drive plate 16 rotate, and the first wheel body 18 rotates while pushing the wheel frame 10 to turn through the drive shaft 20, and the steering of the wheel frame 10 drives the roller to turn.
  • another alternative way to realize the self-steering of the roller 12 is to provide a second wheel body 24 (which will be described later) on the outside of the wheel frame 10 and between the first driving disc 14 and the second driving disc 16
  • the second wheel body 24 is drivingly connected with the first driving disc 14 and the second driving disc 16 respectively;
  • the side part of the wheel frame 10 is provided with a steering shaft, and the second wheel body 24 is rotatably mounted on the On the steering shaft; through the rotation of the first drive disc 14 and the second drive disc 16 in the same direction and at the same speed, the second wheel body 24 revolves around the central axis of the first drive disc 14 and the central axis of the second drive disc 16, While the second wheel body 24 is rotating, the wheel frame 10 is pushed to turn by the steering shaft, and the turning of the wheel frame 10 drives the roller to turn.
  • first wheel body 18 can be driven only around its own central axis through the reverse rotation of the first drive disc 14 (ie, the first bevel gear disc) and the second drive disc 16 (ie, the second bevel gear disc) at the same speed. It rotates on its own without revolving around the central axis of the first driving disc and the central axis of the second driving disc.
  • the self-rotation of the first wheel body 18 drives the roller to rotate (walk) through the drive shaft.
  • the drive mechanism (such as a drive motor, etc.) can be arranged outside the module (may be called a basic module) consisting of a wheel frame, a roller, a drive shaft, a first wheel body, a first drive disc and a second drive disc.
  • the volume of the basic module can be relatively small, which is convenient for application in a limited space; on the other hand, it is convenient to use a larger power drive mechanism without increasing the volume of the basic module
  • the increase of the mechanism does not affect the height and width dimensions of the basic module.
  • the power drive mechanism drives the first drive disc 14 and the second drive disc 16 to make the first drive disc 14 and the second drive disc 16 rotate in opposite directions at the same speed, and drives the rollers by means of the rotation of the first wheel body 18 turn.
  • the first driving disk 14 and the second driving disk 16 can rotate in the same direction and the same speed in addition to the reverse rotation at the same speed.
  • the first wheel body 18 only revolves around the central axis of the first driving disc 14 and the central axis of the second driving disc 16, but does not rotate on its own.
  • the wheel frame 10 is pushed by the drive shaft 20 to turn, and then the wheel frame 10 drives the roller 12 to turn (ie, rotate the travel direction).
  • both the rolling walking driving of the roller 12 and the steering driving of the roller 12 can be realized, and the structure is simple and compact.
  • the first wheel body 18 can rotate along the entire circumference of the first driving disk 14 and the second driving disk 16, and can realize the 360-degree steering of the roller 12, and can continuously realize multiple turns of steering, and no power drive mechanism occurs. Cable tangle problem.
  • the first wheel body 18 may only perform rotation or only rotation.
  • the first wheel body 18 can rotate and revolve at the same time.
  • the first driving disc 14 and the second driving disc 16 rotate at different speeds (such as different speeds in the same direction or different speeds in the opposite direction)
  • the first The wheel body 18 rotates while rotating, so that the first wheel body 18 can turn around while walking.
  • a steering bevel gear may be provided between the first driving disc 14 and the second driving disc 16, and the wheel frame 10 is driven to rotate by the epicyclic rotation of the steering bevel gear, thereby driving The rollers 12 are turned.
  • a second wheel body 24 can be arranged between the first drive disc 14 and the second drive disc 16. Similar to the first wheel body 18, the second wheel body 24 is also a bevel gear. Therefore, the second wheel body 24 can also be called a bevel gear. For the steering bevel gear.
  • the teeth of the second wheel body 24 mesh with the teeth of the first drive disc 14 and the second drive disc 16 .
  • the side part of the wheel frame 10 is provided with a steering shaft 26 , and the second wheel body 24 is rotatably mounted on the steering shaft 26 .
  • the central axis of the second wheel body 24 may intersect the central axes of the first driving disk 14 and the second driving disk 16 perpendicularly.
  • the second wheel body 24 can rotate around its central axis.
  • the second wheel body 24 can revolve around the central axis of the first driving disc 14 and the central axis of the second driving disc 16, and the second wheel body 24 While doing the turnover, the wheel frame 10 is pushed through the steering shaft 26 to turn, and then the wheel frame 10 drives the roller 12 to turn.
  • the second wheel body 24 can rotate along the entire circumference of the first driving disc 14 and the second driving disc 16, and can realize the 360-degree steering of the roller 12, and can continuously realize multiple turns of steering, and no power drive mechanism occurs. Cable tangle problem.
  • the second wheel body 24 can also make an epicycle while rotating.
  • the steering shaft 26 pushes the wheel frame 10 to turn, and then drives the roller 12 to turn through the wheel frame 10 .
  • the second wheel body 24 When the second wheel body 24 is provided between the first driving disc 14 and the second driving disc 16 , the second wheel body 24 and the first wheel body 18 realize the turning of the roller 12 together, so as to reduce the size of the first wheel body 18 and the first wheel body 18 .
  • the force on the drive shaft 20 connected between the rollers 12 when turning plays a protective role for the drive shaft 20 .
  • the second wheel body 24 can also play a supporting role between the first driving disk 14 and the second driving disk 16, so that the first driving disk 14 and the second driving disk 16 can rotate. more stable.
  • the number of the second wheel bodies 24 may be one or more than two.
  • the second wheel body 24 and the first wheel body 18 may be symmetrically arranged between the first driving disc 14 and the second driving disc 16 to balance the loading of the first driving disc 14 and the second driving disc 16 .
  • the second wheel body 24 can also play a role of balanced load.
  • the plurality of second wheel bodies 24 may be symmetrically arranged between the first driving disc 14 and the second driving disc 16 , so as to balance the difference between the first driving disc 14 and the second driving disc 16 . bear.
  • the first drive disk 14 and the second drive disk 16 may be connected with a power drive mechanism 22 to drive the rotation of the first drive disk 14 and the second drive disk 16 .
  • gear teeth can be respectively provided on the outer periphery of the first drive disk 14 and the second drive disk 16, so that the power
  • the driving mechanism 22 realizes the driving of the first driving disk 14 and the second driving disk 16 by driving the gear teeth on the outer peripheral edges of the first driving disk 14 and the second driving disk 16 .
  • the first outer gear 30 can be formed directly on the outer periphery of the first drive plate 14, that is, the first outer gear 30 can be integrally formed with the first drive plate 14; similarly, it can be directly formed on the second drive plate 14
  • the outer periphery of the driving disk 16 forms the second outer gear 32 , that is, the second outer ring 32 can be integrated with the second driving disk 16 .
  • first drive plate 14 and the first outer gear 30 may be of a split structure
  • second drive plate 16 and the second outer gear 32 may also be of a split structure.
  • a first annular groove is formed at the edge of the first drive plate 14, and the first outer gear 30 is sleeved in the first annular groove; and/or, a second annular groove is formed at the edge of the second drive plate 16, The two outer gear rings 32 are sleeved in the second annular groove.
  • first outer ring gear 30 and the first drive plate 14 can be fixedly connected by interference fit, or by key connection, or by welding.
  • second outer ring gear 32 and the second drive plate 16 may be fixedly connected by means of interference fit, or may be fixedly connected by means of key connection, or may be fixedly connected by means of welding.
  • the power drive mechanism 22 may include: a first motor 224 , a first gear transmission mechanism 226 , a second motor 228 and a second gear transmission mechanism 230 ; wherein the first motor 224 is provided on the first drive plate 14 On the outside, the first gear transmission mechanism 226 is provided between the first motor 224 and the first outer ring gear 30.
  • the first motor 224 drives the first outer ring gear 30 to rotate through the first gear transmission mechanism 226, and the first outer ring gear 30 rotates.
  • the rotation of the second drive plate 14 drives the rotation of the first drive plate 14; the second motor 228 is arranged on the outside of the second drive plate 16, the second gear transmission mechanism 230 is arranged between the second motor 228 and the second outer gear 32, The second motor 228 drives the second outer ring gear 32 to rotate through the second gear transmission mechanism 230 , and the rotation of the second outer ring gear 32 drives the second drive plate 16 fixedly connected thereto to rotate.
  • the steering of the first driving disc 14 and the second driving disc 16 can be flexibly controlled.
  • the first motor 224 and the second motor 228 are located outside the roller 12 , which is not only conducive to the improvement of power, but also has good heat dissipation performance, and the problem of cable entanglement will not occur when turning.
  • the first motor 224 may be laterally disposed outside the first drive plate 14 and within the maximum height range defined by the wheel carrier 10, the first drive plate and the second drive plate; and/or, the second motor 228 is laterally arranged on the outside of the second drive plate 16, and is located within the maximum height range defined by the wheel frame 10, the first drive plate and the second drive plate, so that the overall height of the drive module is relatively small,
  • the structure is thinner and more compact.
  • the first driving disk and the second driving disk are sleeved on the outer side of the wheel frame 10 , and the maximum height range defined by the wheel frame 10 , the first driving disk and the second driving disk is the height of the wheel frame.
  • the first drive plate is located at the top of the wheel frame 10
  • the second drive plate is sleeved on the outer side of the wheel frame 10
  • the maximum height range defined by the wheel frame 10 is The height range defined for the wheel carrier 10 and the first drive disk.
  • the output shaft of the first motor 224 and the output shaft of the second motor 228 may also be arranged vertically.
  • the first gear transmission mechanism 226 may include: a first driving bevel gear 232 , a first driven bevel gear 234 and a first intermediate gear 236 ; the first driving bevel gear 232 is fixed on the output shaft of the first motor 224 , the first driven bevel gear 234 and the first intermediate gear 236 are fixed on the first shaft 238, the first driven bevel gear 234 meshes with the first driving bevel gear 232, and the first intermediate gear 236 meshes with the first external tooth The rings 30 are engaged.
  • the second gear transmission mechanism 230 may include: a second driving bevel gear 240 , a second driven bevel gear 242 and a second intermediate gear 244 ; the second driving bevel gear 240 is fixed on the output shaft of the second motor 228 , and the second driven bevel gear 240 is fixed on the output shaft of the second motor 228 .
  • the driven bevel gear 242 and the second intermediate gear 244 are fixed on the second rotating shaft 246 , the second driven bevel gear 242 meshes with the second driving bevel gear 240 , and the second intermediate gear 244 meshes with the second outer ring gear 32 .
  • the power driving mechanism 22 may include: a first timing belt driving mechanism and a second timing belt driving mechanism.
  • the first outer ring gear 30 is driven by the first synchronous belt driving mechanism, so as to realize the driving of the first driving disk 14;
  • the second outer ring gear 32 is driven by the second synchronous belt driving mechanism, thereby realizing the driving of the second driving disk 16 drives.
  • the second end faces of the first drive disk 14 and the second drive disk 16 may be provided with bevel teeth, respectively.
  • the driving mechanism 22 may include: a first motor, a bevel gear mounted on the output shaft of the first motor, a second motor, and a bevel gear mounted on the output shaft of the second motor.
  • the bevel teeth on the second end surface of the first drive disk 14 are driven by the bevel gear on the output shaft of the first motor, so that the first drive disk 14 is driven.
  • the bevel gear on the second end face of the second drive plate 16 is driven by the bevel gear on the output shaft of the second motor, so that the second drive plate 16 is driven.
  • the middle of the wheel frame may have an accommodating space for accommodating the roller, at least one end of the wheel frame has an opening for extending the edge of the roller, the roller is arranged in the accommodating space, and the rim extends out of the opening.
  • only one end of the wheel frame is provided with an opening for the edge of the roller to extend; in another example, there are openings for the edge of the roller to extend at both ends of the wheel frame.
  • the edges protrude from the corresponding openings on the wheel frame, on the one hand, it can increase the heat dissipation effect of the rollers, and on the other hand, it is convenient to reduce the height of the wheel frame from the ground, which can not only enhance the operation of the drive module or the car body it is installed on
  • the stability of the drive module can also be adapted to a lower installation space.
  • One side of the roller 12 may be supported by the drive shaft 20 in a through hole or slot in the side of the wheel frame 10 .
  • the other side of the roller 12 can also be supported on the wheel frame 10 .
  • the roller 12 is provided with a support shaft 48, the support shaft 48 and the drive shaft 20 are respectively located on both sides of the roller 12, and the support shaft 48 coincides with the central axis of the drive shaft 20; the side of the wheel frame 10 is provided with a support hole or The support groove, the support shaft 48 is supported in the support hole or the support groove. Bearings may be provided between the support shaft 48 and the support holes or grooves.
  • the first driving disc and the second driving disc can be sleeved on the wheel frame.
  • both the first driving disk and the second driving disk are annular structures, and are sleeved on the outer side of the wheel frame.
  • the first drive plate is a disc-shaped structure, and one end surface thereof has a connecting portion, through which the top end of the wheel frame is sleeved; the second drive plate is an annular structure, sleeved on the top of the wheel frame. Outside of the wheel carrier.
  • FIG. 2 is a cross-sectional view of a drive module according to another embodiment of the application.
  • a housing 50 may also be included in which the wheel carrier 10 and the first and second drive discs 14 and 16 are located.
  • the wheel carrier 10 is rotatable relative to the housing 50 .
  • the two ends of the wheel frame 10 can be sleeved with bearings, the housing 50 is provided with a bearing seat, and the two ends of the wheel frame 10 are provided in the bearing seat.
  • the first end face of the casing has a first opening, and the rim (lower rim) of the roller 12 protrudes out of the first opening so as to be in contact with the ground; the side surface of the casing 50 has an installation place.
  • the second openings of the power drive mechanisms of the first drive disk 14 and the second drive disk 16 are formed.
  • FIG. 3 is a schematic three-dimensional structure diagram of a driving module according to another embodiment of the present application.
  • the structure of the driving module of this embodiment is basically the same as that of the driving module shown in FIG. 1 .
  • the first wheel body 18 is a cone, and the first end surface of the first driving disc 14 and the first end surface of the second driving disc 16 are respectively provided with tapered surfaces;
  • the conical surface on the first end surface of the first drive disk 14 and the conical surface on the first end surface of the second drive disk 16 are frictionally connected. That is, the first driving disc 14 and the second driving disc 16 drive the first wheel body 18 to rotate and/or revolve through the frictional force between them and the first wheel body 18 .
  • a second wheel body 24 is provided between the first drive plate 14 and the second drive plate 16 , and the second wheel body 24 is a cone.
  • the conical surface of the second wheel body 24 is respectively connected with the conical surface on the first end surface of the first driving disc 14 and the conical surface on the first end surface of the second driving disc 16 through friction transmission.
  • the first driving disc 14 and the second driving disc 16 drive the second wheel body 24 to rotate and/or revolve by friction with the second wheel body 24 .
  • FIG. 4 is a schematic three-dimensional structure diagram of a driving module according to another embodiment of the application.
  • the structure of the driving module in this embodiment is basically the same as that of the driving module shown in FIG. 1 .
  • the difference is that this embodiment
  • the first wheel body 18 is a cylindrical gear
  • the first drive plate 14 is a first end gear
  • the second drive plate 16 is a second end gear
  • the teeth of the first wheel body 18 are respectively connected with the first end gear.
  • the teeth mesh with the teeth of the second face gear.
  • the first driving disc 14 and the second driving disc 16 drive the first wheel body 18 to rotate and/or revolve by meshing with the gear teeth between the first wheel bodies 18 .
  • the first face gear and the second face gear can be a spur gear or a helical gear
  • the cylindrical gear can be a spur gear or a helical gear.
  • a second wheel body 24 is provided between the first drive plate 14 and the second drive plate 16 , and the second wheel body 24 is a cylindrical gear , the teeth of the second wheel body 24 mesh with the teeth of the first end gear and the teeth of the second end gear respectively.
  • the first driving disc 14 and the second driving disc 16 drive the second wheel body 24 to rotate and/or revolve by meshing with the gear teeth between the second wheel bodies 24 .
  • the driving modules of the foregoing embodiments can be applied to various vehicles, especially various automatic guided transport vehicles, to provide driving power for the vehicles.
  • Embodiments of the present application further provide an automatic guided transport vehicle, which includes a vehicle body, and the drive module of any of the foregoing embodiments is installed at the bottom of the vehicle body.
  • the automatic guided transport vehicle is a forklift
  • the drive module is installed at the fork leg of the forklift (for example, installed at the bottom of the fork leg), and the length direction of the first motor and the second motor is consistent with the length direction of the fork leg.
  • the driving module described in any of the foregoing embodiments since the driving module described in any of the foregoing embodiments is used, it has the beneficial effects corresponding to the foregoing embodiments.
  • the steering of a single roller itself can be realized; for another example, the walking driving of the roller can be realized through the first driving disc, the second driving disc and the first wheel body.
  • the power drive mechanism (such as a drive motor, etc.) can be arranged outside the module (which can be called a basic module) consisting of a wheel frame, a roller, a drive shaft, a first wheel body, a first drive disk and a second drive disk,
  • a basic module consisting of a wheel frame, a roller, a drive shaft, a first wheel body, a first drive disk and a second drive disk
  • the volume of the basic module can be relatively small, and on the other hand, it is convenient to use a larger power drive mechanism without increasing the volume of the basic module.

Abstract

一种驱动模组及包括该驱动模块的自动导引运输车，其中，该驱动模组包括：滚轮（12），其可转动地设在轮架（10）内；第一驱动盘（14）和第二驱动盘（16），其设在轮架（10）上且能分别相对轮架（10）转动；在轮架（10）外侧，于第一驱动盘（14）和第二驱动盘（16）之间设有第一轮体（18），第一轮体（18）分别与第一驱动盘（14）和第二驱动盘（16）传动连接，第一轮体（18）和滚轮（12）之间通过贯穿轮架（10）侧部的传动机构传动连接。

Description

驱动模组及自动导引运输车 技术领域
本申请涉及车轮驱动技术领域，尤其涉及一种驱动模组及自动导引运输车。
背景技术
自动导引运输车(AGV，Automated Guided Vehicle)，也可称为无人搬运车，是指装备有电磁或光学等自动导引装置、能够沿规定的导引路径行驶、具有安全保护以及各种移载功能的运输车。工业应用中AGV一般以可充电电池为其动力来源，可通过计算机或利用电磁轨道来控制AGV的行进路线以及行为。
发明内容
有鉴于此，本申请实施例提供一种驱动模组及自动导引运输车，在便于实现滚轮行走驱动的基础上，也便于实现单个滚轮自身的转向。
第一方面，本申请实施例提供一种驱动模组，轮架、滚轮、第一驱动盘和第二驱动盘；其中，所述滚轮可转动地设在所述轮架内；所述第一驱动盘和所述第二驱动盘，设在所述轮架上且能分别相对所述轮架转动；所述第一驱动盘与所述第二驱动盘同轴设置；所述第一驱动盘的第一端面，与所述第二驱动盘的第一端面相对应；在所述轮架外侧，于所述第一驱动盘的第一端面和所述第二驱动盘的第一端面之间设有第一轮体，所述第一轮体分别与所述第一驱动盘和所述第二驱动盘传动连接；所述第一轮体和所述滚轮之间通过贯穿所述轮架侧部的传动机构传动连接。
根据本申请实施例的一实现方式，所述轮架的侧部具有通孔或槽口，所述传动机构穿过所述通孔或槽口。
根据本申请实施例的一实现方式，在所述轮架外侧，于所述第一驱动盘和所述第二驱动盘之间设有第二轮体，所述第二轮体分别与所述第一驱动盘和所述第二驱动盘传动连接；所述轮架的侧部设有转向轴，所述第二轮体可转动地安装在所述转向轴上。
根据本申请实施例的一实现方式，所述第一轮体为锥齿轮，所述第一驱动盘的第一端面上及所述第二驱动盘的第一端面上分别设有锥齿；所述第一轮体的锥齿，分别与所述第一驱动盘的第一端面上的锥齿及所述第二驱动盘的第一端面上锥齿相啮合；或者，
所述第一轮体为圆锥体，所述第一驱动盘的第一端面上及所述第二驱动盘的第一端面上分别设有锥面；所述第一轮体的锥面，分别与所述第一驱动盘的第一端面上的锥面 及所述第二驱动盘的第一端面上的锥面摩擦传动连接；或者，
所述第一轮体为圆柱齿轮，所述第一驱动盘为第一端面齿轮，所述第二驱动盘为第二端面齿轮；所述第一轮体的轮齿，分别与所述第一端面齿轮的齿及所述第二端面齿轮的齿相啮合。
根据本申请实施例的一实现方式，所述第一轮体的中心轴线，与所述第一驱动盘的中心轴线和所述第二驱动盘的中心轴线垂直相交。
根据本申请实施例的一实现方式，所述第一驱动盘和所述第二驱动盘反向同速转动，带动所述第一轮体绕自身的中心轴线做自转，所述第一轮体的自转通过所述传动机构带动所述滚轮转动；或者，
所述第一驱动盘和所述第二驱动盘同向同速转动，带动所述第一轮体绕所述第一驱动盘的中心轴线和所述第二驱动盘的中心轴线做周转，所述第一轮体做周转的同时，通过所述传动机构推动所述轮架转向，所述轮架的转向带动所述滚轮转向；或者，
所述第一驱动盘和所述第二驱动盘做不同速转动时，所述第一轮体在自转的同时做周转。
根据本申请实施例的一实现方式，所述第二轮体的中心轴线，与所述第一驱动盘的中心轴线和所述第二驱动盘的中心轴线垂直相交。
根据本申请实施例的一实现方式，所述第一驱动盘和所述第二驱动盘同向同速转动，所述第二轮体绕所述第一驱动盘的中心轴线和所述第二驱动盘的中心轴线做周转，所述第二轮体做周转的同时，通过所述转向轴推动所述轮架转向，所述轮架的转向带动所述滚轮转向。
根据本申请实施例的一实现方式，所述第一驱动盘和所述第二驱动盘连接有动力驱动机构；所述第一驱动盘和所述二驱动盘的外周缘分别具有轮齿；所述动力驱动机构包括第一电机、第一齿轮传动机构、第二电机和第二齿轮传动机构；其中，所述第一电机设在所述第一驱动盘外侧，所述第一齿轮传动机构设在所述第一电机和所述第一驱动盘之间，所述第一电机通过所述第一齿轮传动机构驱动所述第一驱动盘转动；所述第二电机设在所述第二驱动盘外侧，所述第二齿轮传动机构设在所述第二电机和所述第二驱动盘之间，所述第二电机通过所述第二齿轮传动机构驱动所述第二驱动盘转动。
根据本申请实施例的一实现方式，在所述第一驱动盘的边缘处开设有第一环形槽，在所述第一环形槽中套设有第一外齿圈，所述第一外齿圈的齿形成所述第一驱动盘外周 缘的所述轮齿；和/或，在所述第二驱动盘的外周缘处开设有第二环形槽，在所述第二环形槽中套设有第二外齿圈，所述第二外齿圈的齿形成所述第二驱动盘外周缘的所述轮齿。
根据本申请实施例的一实现方式，所述第一电机横向设置在所述第一驱动盘外侧，并位于所述轮架、所述第一驱动盘及所述第二驱动盘所限定的最大高度范围之内；和/或，所述第二电机横向设置在所述第二驱动盘外侧，并位于所述轮架、所述第一驱动盘及所述第二驱动盘所限定的最大高度范围之内。
根据本申请实施例的一实现方式，所述第一齿轮传动机构包括：第一主动锥齿轮、第一从动锥齿轮和第一中间齿轮；其中，所述第一主动锥齿轮固定在所述第一电机的输出轴上，所述第一从动锥齿轮和所述第一中间齿轮固定在第一转轴上，所述第一从动锥齿轮与所述第一主动锥齿轮相啮合，所述第一中间齿轮与所述第一驱动盘外周缘的所述轮齿相啮合；和/或，所述第二齿轮传动机构包括：第二主动锥齿轮、第二从动锥齿轮和第二中间齿轮；其中，所述第二主动锥齿轮固定在所述第二电机的输出轴上，所述第二从动锥齿轮和所述第二中间齿轮固定在第二转轴上，所述第二从动锥齿轮与所述第二主动锥齿轮相啮合，所述第二中间齿轮与所述第二驱动盘外周缘的所述轮齿相啮合。
根据本申请实施例的一实现方式，所述驱动轴和所述滚轮之间安装有减速器。
根据本申请实施例的一实现方式，所述的驱动模组，还包括外壳，所述轮架及所述第一驱动盘和所述第二驱动盘位于所述外壳内，其中，所述轮架能够相对所述外壳转动；所述外壳的第一端面具有第一开口，所述滚轮的轮缘伸出至所述第一开口之外；所述外壳的侧面具有装设所述第一驱动盘和所述第二驱动盘的动力驱动机构的第二开口。
根据本申请实施例的一实现方式，所述轮架中部具有容纳滚轮的容置空间，所述轮架的至少一端具有供滚轮边缘伸出的开口，所述滚轮设在所述容置空间内，且轮缘伸出所述开口；所述第一驱动盘和所述第二驱动盘，套设在所述轮架上。
根据本申请实施例的一实现方式，所述传动机构包括驱动轴，所述驱动轴贯穿所述轮架侧部，所述驱动轴的第一端与所述第一轮体相连接，第二端与所述滚轮相连接；或者，所述传动机构包括驱动轴，所述驱动轴贯穿所述轮架侧部，所述驱动轴的第一端与所述第一轮体相连接，第二端穿过所述滚轮的轴心并支撑在所述轮架的侧部；或者，所述传动机构包括第一驱动轴、第二驱动轴和减速器，所述第一驱动轴的第一端与所述第一轮体相连接，第二端贯穿所述轮架侧部并与所述减速器的输入端相连接，所述第二驱动轴的第一端与所述减速器的输出端相连接，第二端与所述滚轮相连接。
第二方面，本申请实施例提供一种自动导引运输车，包括车体，在所述车体的底部安装有前述任一实施方式所述的驱动模组。
本申请实施例驱动模组及自动导引运输车，滚轮可转动地设在轮架内，第一驱动盘和第二驱动盘设在轮架上且能分别相对所述轮架转动，在轮架外侧，于第一驱动盘的第一端面和第二驱动盘的第一端面之间设有第一轮体，第一轮体分别与第一驱动盘和第二驱动盘传动连接；第一轮体和滚轮之间通过贯穿所述轮架侧部的传动机构传动连接。由于第一轮体与第一驱动盘和第二驱动盘的传动连接，通过第一驱动盘和第二驱动盘可带动第一轮体转动，又由于第一轮体和滚轮之间通过贯穿所述轮架侧部的传动机构传动连接，这样，便于通过第一驱动盘和第二驱动盘这一驱动盘组实现滚轮的行走驱动，在此基础上，也便于实现单个滚轮自身的转向。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它的附图。
图1为本申请一实施例驱动模组的立体结构示意图；
图2为本申请另一实施例驱动模组的剖视图；
图3为本申请又一实施例驱动模组的立体结构示意图；
图4为本申请再一实施例驱动模组的立体结构示意图。
具体实施方式
下面结合附图对本申请实施例进行详细描述。应当明确，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其它实施例，都属于本申请保护的范围。
目前AGV行走机构通常包括两轮差速的行走机构。在这种行走机构中，并行布置有两个滚轮(驱动轮)，每个滚轮各自配置有驱动电机。行走时，通过各驱动电机驱动对应的滚轮进行同速转动以实现行走；转向时，通过各驱动电机驱动对应的滚轮进行差速转动以实现转向。
这种AGV的行走机构，是依靠并行布置的两个滚轮的相互配合来实现车体转向的， 即通过两个滚轮的差速转动来实现车体转向的，无法实现单个滚轮自身的转向。
本申请实施例提供一种驱动模组，可应用于自动导引运输车上。驱动模组可包括轮架、滚轮、第一驱动盘和第二驱动盘，滚轮可转动地设在轮架内，第一驱动盘和第二驱动盘，设在轮架上且能分别相对轮架转动；第一驱动盘与第二驱动盘同轴设置；第一驱动盘的第一端面，与第二驱动盘的第一端面相对应；在轮架外侧，于第一驱动盘的第一端面和所述第二驱动盘的第一端面之间设有第一轮体，第一轮体分别与第一驱动盘和所述第二驱动盘传动连接；第一轮体和滚轮之间通过贯穿所述轮架侧部的传动机构传动连接。这样可便于通过第一驱动盘和第二驱动盘这一驱动盘组实现滚轮的行走驱动，也便于实现单个滚轮自身的转向。
图1为本申请一实施例驱动模组的立体结构示意图。参看图1，本申请实施例驱动模组，包括：轮架10、滚轮12、第一驱动盘14和第二驱动盘16。
其中，滚轮12可转动地设在轮架10内；第一驱动盘14和第二驱动盘16，设在轮架10上且能分别相对轮架10转动；第一驱动盘14与第二驱动盘16同轴设置。
第一驱动盘14的第一端面，与第二驱动盘16的第一端面相对应，第一驱动盘14的第一端面上及第二驱动盘16的第一端面上分别设有锥齿。
在轮架10外侧，于第一驱动盘14的第一端面和第二驱动盘16的第一端面之间设有第一轮体，第一轮体为锥齿轮，第一轮体的锥齿，分别与第一驱动盘14的第一端面上的锥齿及第二驱动盘16的第一端面上锥齿相啮合。为使传动更加精确，在一个例子中，第一轮体的中心轴线，可与第一驱动盘14的中心轴线和第二驱动盘16的中心轴线垂直相交。第一轮体的中心轴线与第一轮体的旋转轴平行或者为第一轮体的旋转轴，第一驱动盘/第二驱动盘的中心轴线指穿过第一驱动盘/第二驱动盘的中心，且与第一驱动盘/第二驱动盘的旋转轴平行的轴线。
第一轮体和滚轮12之间通过贯穿所述轮架侧部的传动机构传动连接；第一驱动盘14和第二驱动盘16可反向同速转动，带动第一轮体绕自身的中心轴线做自转，第一轮体的自转通过传动机构带动滚轮12转动。
其中，轮架10，也可称为滚轮架，为框架结构，既可作为滚轮行走的支撑架，也可作为推动滚轮转向的转向支架。在轮架10内具有安放滚轮12的容置空间。在一个例子中，轮架10呈两端贯通的圆柱形或桶形，横截面呈圆环形。在另一个例子中，轮架10可为两端贯通的正方体形或长方体形结构。轮架10可由工程塑料注塑形成，也可由金 属件冲压或焊接形成。轮架10的中心轴线为纵向穿过轮架中心的轴线。滚轮12，也可称作辊轮或驱动轮，可转动地设在轮架10内。滚轮12的中心轴线可与轮架10的中心轴线相垂直。滚轮12的中心轴线为滚轮的旋转轴。
第一驱动盘14也可称为第一锥齿盘，第二驱动盘16也可称为第二锥齿盘。应当理解的是，本实施例中，第一驱动盘和第二驱动盘的齿数、模数、压力角、锥角均相同。第一锥齿盘14和第二锥齿盘16可为直齿锥齿盘，也可为斜齿锥齿盘，相应地，第一轮体可为直齿锥齿轮，也可为斜齿锥齿轮。
第一驱动盘14和第二驱动盘16可分别呈圆环形，套设在轮架10的外周且能分别相对轮架10转动。本实施例不限于此，在另一个例子中，第一驱动盘14可为圆盘状结构，盖设在轮架10的顶端处，即可通过第一驱动盘14将滚轮12盖设在轮架内，滚轮12的顶端不露出轮架10的顶部，在该例子中，第二驱动盘16呈圆环形，套设在轮架10的外周，滚轮12的底部从轮架10的底部露出，以便与地面接触。
第一驱动盘14和轮架10之间可安装有轴承，以提高第一驱动盘14和轮架10之间转动的灵活性。同理，第二驱动盘16和轮架10之间也可安装有轴承，以提高第二驱动盘16和轮架10之间转动的灵活性。
第一驱动盘14的第一端面，为与第一驱动盘14的中心轴线相垂直的两个端面中的其中一个端面；相应地，第二驱动盘16的第一端面，为与第二驱动盘16的中心轴线相垂直的两个端面中的其中一个端面。
第一轮体18，用来驱动滚轮12的滚动行走，也可称为驱动锥齿轮。第一轮体18的轴心离地间隙可不小于15mm。第一轮体18的轴心离地间隙是指当滚轮在地面上行走时，第一轮体18的轴心距离地面的高度。在一个例子中，第一轮体18的轴心离地间隙为15mm；在另一个例子中，第一轮体18的轴心离地间隙为20mm，在又一个例子中，第一轮体18的轴心离地间隙为30mm，等等。
所述轮架10的侧部可具有通孔或槽口，所述传动机构可穿过在轮架10侧部的通孔或槽口。
参看图2，在一实施例中，所述传动机构包括驱动轴20，所述驱动轴20贯穿所述轮架侧部，所述驱动轴20的第一端与所述第一轮体18相连接，第二端与所述滚轮12相连接。
在另一实施例中，所述传动机构包括驱动轴，所述驱动轴贯穿所述轮架侧部，所述 驱动轴的第一端与所述第一轮体相连接，第二端穿过所述滚轮的轴心并支撑在所述轮架的侧部，以使滚轮的运转更平稳。
在又一实施例中，所述传动机构包括第一驱动轴、第二驱动轴和减速器，所述第一驱动轴的第一端与所述第一轮体相连接，第二端贯穿所述轮架侧部并与所述减速器的输入端相连接，所述第二驱动轴的第一端与所述减速器的输出端相连接，第二端与所述滚轮相连接。
为便于驱动轴20的平稳转动，在驱动轴20与轮架10侧部的通孔或槽口之间可安装有轴承。
驱动轴20和滚轮12之间可直接固定连接，由此可通过第一轮体18的自转带动滚轮12转动。在一些实施例中，参看图2，驱动轴20和滚轮12之间可安装有减速器28。驱动轴20的一端与第一轮体18固定连接，另一端与减速器28的输入端固定连接，减速器28的输出端与滚轮12固定连接。
本实施例中，滚轮12可转动地设在轮架10内，第一驱动盘14和第二驱动盘16设在轮架10上且能分别相对所述轮架10转动，在轮架10外侧，于第一驱动盘14的第一端面和第二驱动盘16的第一端面之间设有第一轮体18，第一轮体18分别与第一驱动盘14和第二驱动盘16传动连接；在第一轮体18和滚轮12之间设有驱动轴20，驱动轴20穿过轮架10侧部，驱动轴20的第一端与第一轮体18相固定，第二端与滚轮12相固定。
由于第一轮体18与第一驱动盘14和第二驱动盘16的传动连接，通过第一驱动盘14和第二驱动盘16可带动第一轮体18转动，又由于驱动轴20穿过轮架10侧部，驱动轴20的第一端与第一轮体18相固定，这样，通过第一驱动盘14和第二驱动盘16这一驱动盘组，在便于实现滚轮12行走驱动的基础上，也便于实现滚轮12自身的转向，即也为实现滚轮12自身的转向提供硬件基础。
第一驱动盘14和第二驱动盘16反向同速转动，可带动第一轮体18绕自身的中心轴线做自转，第一轮体18的自转通过驱动轴20带动滚轮转动行走。
在前述硬件基础上，实现滚轮12自身转向的一种方式是，可通过第一驱动盘14和第二驱动盘16同向同速转动，带动第一轮体18绕第一驱动盘14的中心轴线和所述第二驱动盘16的中心轴线做周转，第一轮体18做周转的同时，通过驱动轴20推动轮架10转向，轮架10的转向带动滚轮转向。
在前述硬件基础上，实现滚轮12自身转向的另一替代方式是，可在轮架10外侧， 于第一驱动盘14和第二驱动盘16之间设有第二轮体24(将在后面的实施例中详细描述)，第二轮体24分别与第一驱动盘14和第二驱动盘16传动连接；轮架10的侧部设有转向轴，第二轮体24可转动地安装在所述转向轴上；通过第一驱动盘14和第二驱动盘16同向同速转动，第二轮体24绕第一驱动盘14的中心轴线和第二驱动盘16的中心轴线做周转，第二轮体24做周转的同时，通过转向轴推动轮架10转向，轮架10的转向带动所述滚轮转向。
此外，可通过第一驱动盘14(即第一锥齿盘)和第二驱动盘16(即第二锥齿盘)的反向同速转动，带动第一轮体18仅绕自身的中心轴线做自转，而不绕第一驱动盘的中心轴线和所述第二驱动盘的中心轴线做周转，第一轮体18的自转通过驱动轴带动滚轮转动(行走)，这样，驱动滚轮转动的动力驱动机构(如驱动电机等)可设置在由轮架、滚轮、驱动轴、第一轮体、第一驱动盘和第二驱动盘组成的模组(可称为基本模组)之外，一方面可使该基本模组的体积相对较小，便于应用在有限的空间内；另一方面可在不增大该基本模组体积的情况下，便于采用较大的动力驱动机构，即动力驱动机构的增大，不影响基本模组的高度和宽度尺寸。其中的动力驱动机构，通过驱动第一驱动盘14和第二驱动盘16，使第一驱动盘14和第二驱动盘16做反向同速转动，借助于第一轮体18的自转驱动滚轮转动。
本实施例中，第一驱动盘14和第二驱动盘16除可做反向同速转动外，也可做同向同速转动。第一驱动盘14和第二驱动盘16做同向同速转动时，第一轮体18仅绕第一驱动盘14的中心轴线和第二驱动盘16的中心轴线做周转，而不做自转，第一轮体18做周转的同时，通过驱动轴20推动轮架10转向，进而通过轮架10带动滚轮12转向(即转动行进方向)。通过单一的第一轮体18，既可实现滚轮12的滚动行走驱动，也可实现滚轮12的转向驱动，结构简单紧凑。
第一轮体18可沿第一驱动盘14和第二驱动盘16的整个圆周转动，可以实现滚轮12的360度方向的转向，而且可连续实现多圈的转向，也不会发生动力驱动机构线缆缠绕的问题。
如前所述，第一轮体18既可仅做自转，也可仅做周转。在另一个例子中，第一轮体18可同时做自转和周转，当第一驱动盘14和第二驱动盘16做不同速转动时(比如同向不同速或反向不同速)，第一轮体18在自转的同时做周转，即可实现第一轮体18行走的同时做转向。
为了实现滚轮12的转向，在一替代性的实施例中，可在第一驱动盘14和第二驱动 盘16之间设置转向锥齿轮，通过转向锥齿轮的周转带动轮架10转动，从而带动滚轮12转向。
可在第一驱动盘14和第二驱动盘16之间设置第二轮体24，与第一轮体18相似，第二轮体24亦为锥齿轮，因此，第二轮体24也可称为转向锥齿轮。第二轮体24的齿与第一驱动盘14和第二驱动盘16的齿相啮合。轮架10的侧部设有转向轴26，第二轮体24可转动地安装在转向轴26上。为使传动更加精确，在一个例子中，第二轮体24的中心轴线可与第一驱动盘14和第二驱动盘16的中心轴线垂直相交。
第一驱动盘14和第二驱动盘16反向同速转动时，第二轮体24可绕自身中心轴线自转。第一驱动盘14和第二驱动盘16同向同速转动时，第二轮体24可绕第一驱动盘14的中心轴线和第二驱动盘16的中心轴线做周转，第二轮体24做周转的同时，通过转向轴26推动轮架10转向，进而通过轮架10带动滚轮12转向。第二轮体24可沿第一驱动盘14和第二驱动盘16的整个圆周转动，可以实现滚轮12的360度方向的转向，而且可连续实现多圈的转向，也不会发生动力驱动机构线缆缠绕的问题。
第一驱动盘14和第二驱动盘16不同速转动时，与第一轮体18的转动相同，第二轮体24也可在自转的同时做周转，第二轮体24做周转时，通过转向轴26推动轮架10转向，进而通过轮架10带动滚轮12转向。
在第一驱动盘14和第二驱动盘16之间设有第二轮体24时，第二轮体24与第一轮体18一同实现滚轮12的转向，以减小第一轮体18和滚轮12之间连接的驱动轴20在转向时所受的力，对驱动轴20起到保护作用。
第二轮体24除了可实现滚轮12的转向之外，也可在第一驱动盘14和第二驱动盘16之间起到支撑作用，使第一驱动盘14和第二驱动盘16的转动更加平稳。
第二轮体24的数量可为一个，也可为两个以上。第二轮体24和第一轮体18，可在第一驱动盘14和第二驱动盘16之间呈对称布置，以均衡第一驱动盘14和第二驱动盘16的承载。
第二轮体24也可起到均衡承载作用。第二轮体24为多个时，多个第二轮体24在第一驱动盘14和第二驱动盘16之间可呈对称布置，以均衡第一驱动盘14和第二驱动盘16的承载。
第一驱动盘14和第二驱动盘16可连接有动力驱动机构22，以驱动第一驱动盘14和第二驱动盘16的转动。
为便于动力驱动机构22驱动第一驱动盘14和第二驱动盘16，可在第一驱动盘14和第二驱动盘16的外周缘分别设置轮齿(直齿或斜齿)，以使动力驱动机构22通过第一驱动盘14和第二驱动盘16的外周缘的轮齿的驱动，实现对第一驱动盘14和第二驱动盘16的驱动。
在一个例子中，可直接在第一驱动盘14的外周缘形成第一外齿圈30，即第一外齿圈30可与第一驱动盘14为一体结构；类似地，可直接在第二驱动盘16的外周缘形成第二外齿圈32，即第二外齿圈32可与第二驱动盘16为一体结构。
在另一个例子中，第一驱动盘14与第一外齿圈30可为分体式结构，第二驱动盘16与第二外齿圈32亦可为分体式结构。第一驱动盘14的边缘处开设有第一环形槽，第一外齿圈30套设在第一环形槽中；和/或，第二驱动盘16的边缘处开设有第二环形槽，第二外齿圈32套设在第二环形槽中。
在分体式结构中，第一外齿圈30与第一驱动盘14可采用过盈配合的方式固定连接，也可通过键连接的方式固定连接，还可通过焊接的方式固定连接。类似地，第二外齿圈32与第二驱动盘16可采用过盈配合的方式固定连接，也可通过键连接的方式固定连接，还可通过焊接的方式固定连接。
在一实施例中，动力驱动机构22可包括：第一电机224、第一齿轮传动机构226、第二电机228和第二齿轮传动机构230；其中，第一电机224设在第一驱动盘14外侧，第一齿轮传动机构226设在第一电机224和第一外齿圈30之间，第一电机224通过第一齿轮传动机构226驱动第一外齿圈30转动，第一外齿圈30的转动带动与其固连的第一驱动盘14转动；第二电机228设在第二驱动盘16外侧，第二齿轮传动机构230设在第二电机228和第二外齿圈32之间，第二电机228通过第二齿轮传动机构230驱动第二外齿圈32转动，第二外齿圈32的转动带动与其固连的第二驱动盘16转动。
通过第一电机224和第二电机228分别驱动第一驱动盘14和第二驱动盘16，可灵活控制第一驱动盘14和第二驱动盘16转向。第一电机224和第二电机228处于滚轮12外部，不仅有利于功率的提升，而且散热性能良好，在转向时也不会发生线缆缠绕的问题。
第一电机224可横向设置在所述第一驱动盘14外侧，并位于所述轮架10、第一驱动盘及第二驱动盘所限定的最大高度范围之内；和/或，第二电机228横向设置在所述第二驱动盘16外侧，并位于所述轮架10、第一驱动盘及第二驱动盘所限定的最大高度范 围之内，使得驱动模组的整体高度相对较小，结构更薄，更加紧凑。在一个例子中，第一驱动盘及第二驱动盘套设在轮架10的外侧，轮架10、第一驱动盘及第二驱动盘所限定的最大高度范围即为轮架的高度。在另一例子中，第一驱动盘位于轮架10的顶端，第二驱动盘套设在轮架10的外侧，轮架10、第一驱动盘及第二驱动盘所限定的最大高度范围即为轮架10和第一驱动盘所限定的高度范围。
本申请实施例不限于此，在其它实施例中，第一电机224的输出轴和第二电机228的输出轴也可竖向设置。
在一个例子中，第一齿轮传动机构226可包括：第一主动锥齿轮232、第一从动锥齿轮234和第一中间齿轮236；第一主动锥齿轮232固定在第一电机224的输出轴上，第一从动锥齿轮234和第一中间齿轮236固定在第一转轴238上，第一从动锥齿轮234与第一主动锥齿轮232相啮合，第一中间齿轮236与第一外齿圈30相啮合。
第二齿轮传动机构230可包括：第二主动锥齿轮240、第二从动锥齿轮242和第二中间齿轮244；第二主动锥齿轮240固定在第二电机228的输出轴上，第二从动锥齿轮242和第二中间齿轮244固定在第二转轴246上，第二从动锥齿轮242与第二主动锥齿轮240相啮合，第二中间齿轮244与第二外齿圈32相啮合。
在另一实施例中，动力驱动机构22可包括：第一同步带驱动机构和第二同步带驱动机构。通过第一同步带驱动机构来驱动第一外齿圈30，从而实现对第一驱动盘14的驱动；通过第二同步带驱动机构来驱动第二外齿圈32，从而实现对第二驱动盘16的驱动。
在又一实施例中，第一驱动盘14和第二驱动盘16的第二端面的可分别设有锥齿。驱动机构22可包括：第一电机、安装在第一电机输出轴上的锥齿轮、第二电机以及安装在第二电机输出轴上的锥齿轮。通过第一电机输出轴上的锥齿轮，带动第一驱动盘14的第二端面上的锥齿，从而实现对第一驱动盘14的驱动。相应地，通过第二电机输出轴上的锥齿轮，带动第二驱动盘16的第二端面上的锥齿，从而实现对第二驱动盘16的驱动。
在前述各实施例中，轮架中部可具有容纳滚轮的容置空间，轮架的至少一端具有供滚轮边缘伸出的开口，滚轮设在容置空间内，且轮缘伸出所述开口。在一个例子中，只在轮架的一端设有供滚轮边缘伸出的开口；在另一例子中，在轮架的两端均设有供滚轮边缘伸出的开口，滚轮的上边缘和下边缘分别从轮架上对应的开口处伸出，这样一方面可增加滚轮的散热效果，另一方面，便于降低轮架距离地面的高度，既可增强驱动模组 或其所安装的车体运行的平稳性，也可以使驱动模组适应更低矮的安装空间。
滚轮12的一侧可通过驱动轴20支撑在轮架10侧部的通孔或槽口中。在另一实施例中，为使滚轮12运行更加平稳及便于快速转向，滚轮12的另一侧也可支撑在轮架10上。滚轮12上设有支撑轴48，支撑轴48与驱动轴20分别位于滚轮12的两侧，且支撑轴48与驱动轴20的中心轴线相重合；在轮架10的侧部开设有支撑孔或支撑槽，支撑轴48支撑在支撑孔或支撑槽中。在支撑轴48和支撑孔或支撑槽之间可设有轴承。
第一驱动盘和第二驱动盘可套设在轮架上。在一个例子中，第一驱动盘和第二驱动盘均为圆环形结构，套设在轮架的外侧。在另一个例子中，第一驱动盘为圆盘形结构，其一端面上具有连接部，通过该连接部套设在轮架的顶端；第二驱动盘则为圆环形结构，套设在轮架的外侧。
图2为本申请另一实施例驱动模组的剖视图，参看图2，为便于对第一驱动盘14和第二驱动盘16起到防护作用，在一实施例中，所述驱动模组，还可包括外壳50，轮架10及第一驱动盘14和第二驱动盘16位于外壳50内。轮架10可相对外壳50转动。轮架10的两端可套设有轴承，外壳50内设有轴承座，轮架10的两端轴承设在轴承座内。所述外壳的第一端面具有第一开口，所述滚轮12的轮缘(下轮缘)伸出至所述第一开口之外，以便与地面接触；所述外壳50的侧面具有装设所述第一驱动盘14和所述第二驱动盘16的动力驱动机构的第二开口。
图3为本申请又一实施例驱动模组的立体结构示意图，参看图3，本实施例驱动模组的结构，与图1所示驱动模组的结构基本相同，不同之处在于，本实施例中，第一轮体18为圆锥体，第一驱动盘14的第一端面上及第二驱动盘16的第一端面上分别设有锥面；第一轮体18的锥面，分别与第一驱动盘14的第一端面上的锥面及第二驱动盘16的第一端面上的锥面摩擦传动连接。即第一驱动盘14和第二驱动盘16通过与第一轮体18之间的摩擦力，带动第一轮体18做自转和/或周转。
与图1所示实施例相似，本实施例中，在轮架10外侧，于第一驱动盘14和第二驱动盘16之间设有第二轮体24，第二轮体24为圆锥体，第二轮体24的锥面，分别与第一驱动盘14的第一端面上的锥面及第二驱动盘16的第一端面上的锥面摩擦传动连接。第一驱动盘14和第二驱动盘16通过与第二轮体24之间的摩擦力，带动第二轮体24做自转和/或周转。
图4为本申请再一实施例驱动模组的立体结构示意图，参看图4，本实施例驱动模 组的结构，与图1所示驱动模组的结构基本相同，不同之处在于，本实施例中，第一轮体18为圆柱齿轮，第一驱动盘14为第一端面齿轮，第二驱动盘16为第二端面齿轮；第一轮体18的轮齿，分别与第一端面齿轮的齿及第二端面齿轮的齿相啮合。第一驱动盘14和第二驱动盘16通过与第一轮体18之间的轮齿啮合，带动第一轮体18做自转和/或周转。第一端面齿轮和第二端面齿轮可为端面直齿轮或端面斜齿轮，相应地，圆柱齿轮可为圆柱直齿轮或圆柱斜齿轮。
与图1所示实施例相似，本实施例中，在轮架10外侧，于第一驱动盘14和第二驱动盘16之间设有第二轮体24，第二轮体24为圆柱齿轮，第二轮体24的轮齿，分别与第一端面齿轮的齿及第二端面齿轮的齿相啮合。第一驱动盘14和第二驱动盘16通过与第二轮体24之间的轮齿啮合，带动第二轮体24做自转和/或周转。
前述实施例的驱动模组，可应用于各种车辆中，尤其可应用于各种自动导引运输车中，以为车辆提供驱动动力。
本申请实施例还提供一种自动导引运输车，包括车体，在车体底部安装有前述任一实施例的驱动模组。
在一例子中，自动导引运输车为叉车，驱动模组安装于叉车的叉腿处(比如安装在叉腿底部)，第一电机和第二电机的长度方向与叉腿的长度方向相一致。
本申请实施例自动导引运输车中，由于采用前述任一实施例所述的驱动模组，因此，具有与前述实施例相应的有益效果。比如，可实现单个滚轮自身的转向；又比如，通过第一驱动盘、第二驱动盘和第一轮体实现对滚轮的行走驱动。动力驱动机构(如驱动电机等)可设置在由轮架、滚轮、驱动轴、第一轮体、第一驱动盘和第二驱动盘组成的模组(可称为基本模组)之外，一方面可使该基本模组的体积相对较小，另一方面可在不增大该基本模组体积的情况下，便于采用较大的动力驱动机构。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括要素的过程、方法、物品或者设备中还存在另外的相同要素。
本说明书中的各个实施例均采用相关的方式描述，各个实施例之间相同相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同之处。
以上，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以权利要求的保护范围为准。

Claims (17)

  1. 一种驱动模组，包括：轮架、滚轮、第一驱动盘和第二驱动盘；其中
    所述滚轮可转动地设在所述轮架内；
    所述第一驱动盘和所述第二驱动盘，设在所述轮架上且能分别相对所述轮架转动；所述第一驱动盘与所述第二驱动盘同轴设置；
    所述第一驱动盘的第一端面，与所述第二驱动盘的第一端面相对应；在所述轮架外侧，于所述第一驱动盘的第一端面和所述第二驱动盘的第一端面之间设有第一轮体，所述第一轮体分别与所述第一驱动盘和所述第二驱动盘传动连接；
    所述第一轮体和所述滚轮之间通过贯穿所述轮架侧部的传动机构传动连接。
  2. 根据权利要求1所述的驱动模组，其中，所述轮架的侧部具有通孔或槽口，所述传动机构穿过所述通孔或槽口。
  3. 根据权利要求1或2所述的驱动模组，其中，在所述轮架外侧，于所述第一驱动盘和所述第二驱动盘之间设有第二轮体，所述第二轮体分别与所述第一驱动盘和所述第二驱动盘传动连接；所述轮架的侧部设有转向轴，所述第二轮体可转动地安装在所述转向轴上。
  4. 根据前述任一权利要求所述的驱动模组，其中，所述第一轮体为锥齿轮，所述第一驱动盘的第一端面上及所述第二驱动盘的第一端面上分别设有锥齿；所述第一轮体的锥齿，分别与所述第一驱动盘的第一端面上的锥齿及所述第二驱动盘的第一端面上锥齿相啮合；或者，
    所述第一轮体为圆锥体，所述第一驱动盘的第一端面上及所述第二驱动盘的第一端面上分别设有锥面；所述第一轮体的锥面，分别与所述第一驱动盘的第一端面上的锥面及所述第二驱动盘的第一端面上的锥面摩擦传动连接；或者，
    所述第一轮体为圆柱齿轮，所述第一驱动盘为第一端面齿轮，所述第二驱动盘为第二端面齿轮；所述第一轮体的轮齿，分别与所述第一端面齿轮的齿及所述第二端面齿轮的齿相啮合。
  5. 根据前述任一权利要求所述的驱动模组，其中，所述第一轮体的中心轴线，与所述第一驱动盘的中心轴线和所述第二驱动盘的中心轴线垂直相交。
  6. 根据前述任一权利要求所述的驱动模组，其中，所述第一驱动盘和所述第二驱动盘反向同速转动，带动所述第一轮体绕自身的中心轴线做自转，所述第一轮体的自转通过所述传动机构带动所述滚轮转动；或者，
    所述第一驱动盘和所述第二驱动盘同向同速转动，带动所述第一轮体绕所述第一驱 动盘的中心轴线和所述第二驱动盘的中心轴线做周转，所述第一轮体做周转的同时，通过所述传动机构推动所述轮架转向，所述轮架的转向带动所述滚轮转向；或者，
    所述第一驱动盘和所述第二驱动盘做不同速转动时，所述第一轮体在自转的同时做周转。
  7. 根据权利要求3-6中任一项所述的驱动模组，其中，所述第二轮体的中心轴线，与所述第一驱动盘的中心轴线和所述第二驱动盘的中心轴线垂直相交。
  8. 根据权利要求3-6中任一项所述的驱动模组，其中，所述第一驱动盘和所述第二驱动盘同向同速转动，所述第二轮体绕所述第一驱动盘的中心轴线和所述第二驱动盘的中心轴线做周转，所述第二轮体做周转的同时，通过所述转向轴推动所述轮架转向，所述轮架的转向带动所述滚轮转向。
  9. 根据前述任一权利要求所述的驱动模组，其中，所述第一驱动盘和所述第二驱动盘连接有动力驱动机构；所述第一驱动盘和所述二驱动盘的外周缘分别具有轮齿；
    所述动力驱动机构包括第一电机、第一齿轮传动机构、第二电机和第二齿轮传动机构；其中，
    所述第一电机设在所述第一驱动盘外侧，所述第一齿轮传动机构设在所述第一电机和所述第一驱动盘之间，所述第一电机通过所述第一齿轮传动机构驱动所述第一驱动盘转动；
    所述第二电机设在所述第二驱动盘外侧，所述第二齿轮传动机构设在所述第二电机和所述第二驱动盘之间，所述第二电机通过所述第二齿轮传动机构驱动所述第二驱动盘转动。
  10. 根据权利要求9所述的驱动模组，其中，在所述第一驱动盘的边缘处开设有第一环形槽，在所述第一环形槽中套设有第一外齿圈，所述第一外齿圈的齿形成所述第一驱动盘外周缘的所述轮齿；和/或，
    在所述第二驱动盘的外周缘处开设有第二环形槽，在所述第二环形槽中套设有第二外齿圈，所述第二外齿圈的齿形成所述第二驱动盘外周缘的所述轮齿。
  11. 根据权利要求9或10所述的驱动模组，其中，所述第一电机横向设置在所述第一驱动盘外侧，并位于所述轮架、所述第一驱动盘及所述第二驱动盘所限定的最大高度范围之内；和/或
    所述第二电机横向设置在所述第二驱动盘外侧，并位于所述轮架、所述第一驱动盘及所述第二驱动盘所限定的最大高度范围之内。
  12. 根据权利要求9-11中任一项所述的驱动模组，其中，所述第一齿轮传动机构 包括：第一主动锥齿轮、第一从动锥齿轮和第一中间齿轮；其中，所述第一主动锥齿轮固定在所述第一电机的输出轴上，所述第一从动锥齿轮和所述第一中间齿轮固定在第一转轴上，所述第一从动锥齿轮与所述第一主动锥齿轮相啮合，所述第一中间齿轮与所述第一驱动盘外周缘的所述轮齿相啮合；和/或，
    所述第二齿轮传动机构包括：第二主动锥齿轮、第二从动锥齿轮和第二中间齿轮；其中，所述第二主动锥齿轮固定在所述第二电机的输出轴上，所述第二从动锥齿轮和所述第二中间齿轮固定在第二转轴上，所述第二从动锥齿轮与所述第二主动锥齿轮相啮合，所述第二中间齿轮与所述第二驱动盘外周缘的所述轮齿相啮合。
  13. 根据前述任一权利要求所述的驱动模组，其中，还包括外壳，所述轮架及所述第一驱动盘和所述第二驱动盘位于所述外壳内，其中，所述轮架能够相对所述外壳转动；
    所述外壳的第一端面具有第一开口，所述滚轮的轮缘伸出至所述第一开口之外；所述外壳的侧面具有装设所述第一驱动盘和所述第二驱动盘的动力驱动机构的第二开口。
  14. 根据前述任一权利要求所述的驱动模组，其中，所述轮架中部具有容纳滚轮的容置空间，所述轮架的至少一端具有供滚轮边缘伸出的开口，所述滚轮设在所述容置空间内，且轮缘伸出所述开口；
    所述第一驱动盘和所述第二驱动盘，套设在所述轮架上。
  15. 根据前述任一权利要求所述的驱动模组，其中，
    所述传动机构包括驱动轴，所述驱动轴贯穿所述轮架侧部，所述驱动轴的第一端与所述第一轮体相连接，第二端与所述滚轮相连接；或者，
    所述传动机构包括驱动轴，所述驱动轴贯穿所述轮架侧部，所述驱动轴的第一端与所述第一轮体相连接，第二端穿过所述滚轮的轴心并支撑在所述轮架的侧部；或者，
    所述传动机构包括第一驱动轴、第二驱动轴和减速器，所述第一驱动轴的第一端与所述第一轮体相连接，第二端贯穿所述轮架侧部并与所述减速器的输入端相连接，所述第二驱动轴的第一端与所述减速器的输出端相连接，第二端与所述滚轮相连接。
  16. 根据前述任一权利要求所述的驱动模组，其中，所述第一轮体的轴心离地间隙不小于15mm。
  17. 一种自动导引运输车，包括车体，在所述车体的底部安装有前述权利要求1-16任一项所述的驱动模组。
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